LinMot
LinMot LinMot
L i n M o t ® Motion Control SW System Overview This user Manual describes the Motion Control SW functionality of the LinMot E1200 / E1400 servo controllers. 1.1 References Ref Title Source 1 Installation_Guide_E1200.pdf www.linmot.com 2 Installation_Guide_E1400.pdf www.linmot.com 3 Usermanual_LinMot-Talk_4.pdf www.linmot.com The documentation is distributed with the LinMot-Talk configuration software or can be downloaded from the Internet from the download section of our homepage. 1.2 Definitions, Items, Shortcuts Shortcut Meaning LM LinMot linear motor OS Operating system (Software) MC (SW) Motion Control (Software) Intf Interface (Software) Appl Application (Software) VAI VA-Interpolator (Max velocity limited acceleration position interpolator) Pos Position Vel Velocity Acc Acceleration Dec Deceleration UPID Unique Parameter ID (16 bit) 1.3 Data types Type Range/Format Num of bytes Bool Boolean, False/True 1/8 Byte 0..255 1 Char ASCII 1 String Array of char last char = 00h X SInt16 -32768..32767 2 UInt16 0..65535 2 SInt32 -2147483648..2147483647 4 UInt32 0..4294967295 4 Float 4 Page 10/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot
Motion Control SW L i n M o t ® 2 Motion Control Interfaces For controlling the behavior of the motion control SW, two different Interfaces are available. For controlling the main state machine, a bit coded control word can be used. For controlling the motion functionality a memory mapped motion command interface can be used. These two instances are mapped via an interface SW to an upper control system (PLC, IPC, PC, ..). The interfacing is done with digital I/Os or a serial link like Profibus DP, CAN bus (CANopen), RS485, RS422 or RS232 (LinRS protocol).Ethernet (POWERLINK, EtherCAT, Ethernet/IP). With LinMot-Talk the control over the control word can be taken bit by bit, for testing and debugging. Unused control word bits can be forced by parameter value. Also the control of the motion command interpreter can be switched to the control panel of the LinMot-Talk software for testing. All this can be done while the system is running, so be careful using this features on a running machine! Realtime Machine Control Monitoring, Testing, Simulating PLC with serial bus LinMot-Talk1100 Control Panel Interface Control Word Motion Command Registers Control Word Parameter Force Values Motion Command Registers Control Word Intf Copy Mask Control Word Parameter Force Mask Motion Command Interface Selector Event Handler Control Word Status Word Command Registers Response Registers State Machine Control Motion Command Interpreter Axle Control NTI AG / LinMot User Manual Motion Control SW/ 07.09.2011 Page 11/105
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Motion Control SW<br />
L i n M o t ®<br />
2 Motion Control Interfaces<br />
For controlling the behavior of the motion control SW, two different Interfaces are available.<br />
For controlling the main state machine, a bit coded control word can be used. For<br />
controlling the motion functionality a memory mapped motion command interface can be<br />
used. These two instances are mapped via an interface SW to an upper control system<br />
(PLC, IPC, PC, ..). The interfacing is done with digital I/Os or a serial link like Profibus DP,<br />
CAN bus (CANopen), RS485, RS422 or RS232 (LinRS protocol).Ethernet (POWERLINK,<br />
EtherCAT, Ethernet/IP).<br />
With <strong>LinMot</strong>-Talk the control over the control word can be taken bit by bit, for testing and<br />
debugging. Unused control word bits can be forced by parameter value.<br />
Also the control of the motion command interpreter can be switched to the control panel of<br />
the <strong>LinMot</strong>-Talk software for testing.<br />
All this can be done while the system is running, so be careful using this features on a<br />
running machine!<br />
Realtime Machine Control<br />
Monitoring, Testing, Simulating<br />
PLC<br />
with serial bus<br />
<strong>LinMot</strong>-Talk1100<br />
Control Panel<br />
Interface Control<br />
Word<br />
Motion<br />
Command<br />
Registers<br />
Control Word<br />
Parameter Force Values<br />
Motion<br />
Command<br />
Registers<br />
Control Word Intf<br />
Copy Mask<br />
Control Word<br />
Parameter Force Mask<br />
Motion Command<br />
Interface Selector<br />
Event<br />
Handler<br />
Control Word<br />
Status Word<br />
Command<br />
Registers<br />
Response<br />
Registers<br />
State Machine Control<br />
Motion Command<br />
Interpreter<br />
Axle Control<br />
NTI AG / <strong>LinMot</strong> User Manual Motion Control SW/ 07.09.2011 Page 11/105
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